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<h1 id="sec_name">
<span data-if="hdevelop" style="display:inline;">contour_to_world_plane_xld</span><span data-if="c" style="display:none;">T_contour_to_world_plane_xld</span><span data-if="cpp" style="display:none;">ContourToWorldPlaneXld</span><span data-if="dotnet" style="display:none;">ContourToWorldPlaneXld</span><span data-if="python" style="display:none;">contour_to_world_plane_xld</span> (算子名称)</h1>
<h2>名称</h2>
<p><code><span data-if="hdevelop" style="display:inline;">contour_to_world_plane_xld</span><span data-if="c" style="display:none;">T_contour_to_world_plane_xld</span><span data-if="cpp" style="display:none;">ContourToWorldPlaneXld</span><span data-if="dotnet" style="display:none;">ContourToWorldPlaneXld</span><span data-if="python" style="display:none;">contour_to_world_plane_xld</span></code> — Transform an XLD contour into the plane z=0 of a world coordinate system.</p>
<h2 id="sec_synopsis">参数签名</h2>
<div data-if="hdevelop" style="display:inline;">
<p>
<code><b>contour_to_world_plane_xld</b>(<a href="#Contours"><i>Contours</i></a> : <a href="#ContoursTrans"><i>ContoursTrans</i></a> : <a href="#CameraParam"><i>CameraParam</i></a>, <a href="#WorldPose"><i>WorldPose</i></a>, <a href="#Scale"><i>Scale</i></a> : )</code></p>
</div>
<div data-if="c" style="display:none;">
<p>
<code>Herror <b>T_contour_to_world_plane_xld</b>(const Hobject <a href="#Contours"><i>Contours</i></a>, Hobject* <a href="#ContoursTrans"><i>ContoursTrans</i></a>, const Htuple <a href="#CameraParam"><i>CameraParam</i></a>, const Htuple <a href="#WorldPose"><i>WorldPose</i></a>, const Htuple <a href="#Scale"><i>Scale</i></a>)</code></p>
</div>
<div data-if="cpp" style="display:none;">
<p>
<code>void <b>ContourToWorldPlaneXld</b>(const HObject&amp; <a href="#Contours"><i>Contours</i></a>, HObject* <a href="#ContoursTrans"><i>ContoursTrans</i></a>, const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const HTuple&amp; <a href="#WorldPose"><i>WorldPose</i></a>, const HTuple&amp; <a href="#Scale"><i>Scale</i></a>)</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HXLDCont.html">HXLDCont</a>::<b>ContourToWorldPlaneXld</b>(const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const HPose&amp; <a href="#WorldPose"><i>WorldPose</i></a>, const HTuple&amp; <a href="#Scale"><i>Scale</i></a>) const</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HXLDCont.html">HXLDCont</a>::<b>ContourToWorldPlaneXld</b>(const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const HPose&amp; <a href="#WorldPose"><i>WorldPose</i></a>, const HString&amp; <a href="#Scale"><i>Scale</i></a>) const</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HXLDCont.html">HXLDCont</a>::<b>ContourToWorldPlaneXld</b>(const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const HPose&amp; <a href="#WorldPose"><i>WorldPose</i></a>, const char* <a href="#Scale"><i>Scale</i></a>) const</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HXLDCont.html">HXLDCont</a>::<b>ContourToWorldPlaneXld</b>(const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const HPose&amp; <a href="#WorldPose"><i>WorldPose</i></a>, const wchar_t* <a href="#Scale"><i>Scale</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HPose.html">HPose</a>::<b>ContourToWorldPlaneXld</b>(const HXLDCont&amp; <a href="#Contours"><i>Contours</i></a>, const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const HTuple&amp; <a href="#Scale"><i>Scale</i></a>) const</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HPose.html">HPose</a>::<b>ContourToWorldPlaneXld</b>(const HXLDCont&amp; <a href="#Contours"><i>Contours</i></a>, const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const HString&amp; <a href="#Scale"><i>Scale</i></a>) const</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HPose.html">HPose</a>::<b>ContourToWorldPlaneXld</b>(const HXLDCont&amp; <a href="#Contours"><i>Contours</i></a>, const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const char* <a href="#Scale"><i>Scale</i></a>) const</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HPose.html">HPose</a>::<b>ContourToWorldPlaneXld</b>(const HXLDCont&amp; <a href="#Contours"><i>Contours</i></a>, const HTuple&amp; <a href="#CameraParam"><i>CameraParam</i></a>, const wchar_t* <a href="#Scale"><i>Scale</i></a>) const  <span class="signnote">
            (
            Windows only)
          </span></code></p>
</div>
<div data-if="com" style="display:none;"></div>
<div data-if="dotnet" style="display:none;">
<p>
<code>static void <a href="HOperatorSet.html">HOperatorSet</a>.<b>ContourToWorldPlaneXld</b>(<a href="HObject.html">HObject</a> <a href="#Contours"><i>contours</i></a>, out <a href="HObject.html">HObject</a> <a href="#ContoursTrans"><i>contoursTrans</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CameraParam"><i>cameraParam</i></a>, <a href="HTuple.html">HTuple</a> <a href="#WorldPose"><i>worldPose</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Scale"><i>scale</i></a>)</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HXLDCont.html">HXLDCont</a>.<b>ContourToWorldPlaneXld</b>(<a href="HTuple.html">HTuple</a> <a href="#CameraParam"><i>cameraParam</i></a>, <a href="HPose.html">HPose</a> <a href="#WorldPose"><i>worldPose</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Scale"><i>scale</i></a>)</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HXLDCont.html">HXLDCont</a>.<b>ContourToWorldPlaneXld</b>(<a href="HTuple.html">HTuple</a> <a href="#CameraParam"><i>cameraParam</i></a>, <a href="HPose.html">HPose</a> <a href="#WorldPose"><i>worldPose</i></a>, string <a href="#Scale"><i>scale</i></a>)</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HPose.html">HPose</a>.<b>ContourToWorldPlaneXld</b>(<a href="HXLDCont.html">HXLDCont</a> <a href="#Contours"><i>contours</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CameraParam"><i>cameraParam</i></a>, <a href="HTuple.html">HTuple</a> <a href="#Scale"><i>scale</i></a>)</code></p>
<p>
<code><a href="HXLDCont.html">HXLDCont</a> <a href="HPose.html">HPose</a>.<b>ContourToWorldPlaneXld</b>(<a href="HXLDCont.html">HXLDCont</a> <a href="#Contours"><i>contours</i></a>, <a href="HTuple.html">HTuple</a> <a href="#CameraParam"><i>cameraParam</i></a>, string <a href="#Scale"><i>scale</i></a>)</code></p>
</div>
<div data-if="python" style="display:none;">
<p>
<code>def <b>contour_to_world_plane_xld</b>(<a href="#Contours"><i>contours</i></a>: HObject, <a href="#CameraParam"><i>camera_param</i></a>: Sequence[Union[int, float, str]], <a href="#WorldPose"><i>world_pose</i></a>: Sequence[Union[int, float]], <a href="#Scale"><i>scale</i></a>: Union[int, float, str]) -&gt; HObject</code></p>
</div>
<h2 id="sec_description">描述</h2>
<p>该算子 <code><span data-if="hdevelop" style="display:inline">contour_to_world_plane_xld</span><span data-if="c" style="display:none">contour_to_world_plane_xld</span><span data-if="cpp" style="display:none">ContourToWorldPlaneXld</span><span data-if="com" style="display:none">ContourToWorldPlaneXld</span><span data-if="dotnet" style="display:none">ContourToWorldPlaneXld</span><span data-if="python" style="display:none">contour_to_world_plane_xld</span></code> transforms contour points
given in <a href="#Contours"><i><code><span data-if="hdevelop" style="display:inline">Contours</span><span data-if="c" style="display:none">Contours</span><span data-if="cpp" style="display:none">Contours</span><span data-if="com" style="display:none">Contours</span><span data-if="dotnet" style="display:none">contours</span><span data-if="python" style="display:none">contours</span></code></i></a> into the plane z=0 in a world coordinate system
and returns the 3D contour points in <a href="#ContoursTrans"><i><code><span data-if="hdevelop" style="display:inline">ContoursTrans</span><span data-if="c" style="display:none">ContoursTrans</span><span data-if="cpp" style="display:none">ContoursTrans</span><span data-if="com" style="display:none">ContoursTrans</span><span data-if="dotnet" style="display:none">contoursTrans</span><span data-if="python" style="display:none">contours_trans</span></code></i></a>. The world
coordinate system is chosen by passing its 3D pose relative to the camera
coordinate system in <a href="#WorldPose"><i><code><span data-if="hdevelop" style="display:inline">WorldPose</span><span data-if="c" style="display:none">WorldPose</span><span data-if="cpp" style="display:none">WorldPose</span><span data-if="com" style="display:none">WorldPose</span><span data-if="dotnet" style="display:none">worldPose</span><span data-if="python" style="display:none">world_pose</span></code></i></a>.
Hence, latter one is expected in the form
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  </g>
</svg></span>, where
<i>ccs</i> denotes the camera coordinate system and
<i>wcs</i> the world coordinate system
(see <a href="toc_transformations_poses.html">Transformations / Poses</a>
and <code>“Solution Guide III-C - 3D Vision”</code>).
In <a href="#CameraParam"><i><code><span data-if="hdevelop" style="display:inline">CameraParam</span><span data-if="c" style="display:none">CameraParam</span><span data-if="cpp" style="display:none">CameraParam</span><span data-if="com" style="display:none">CameraParam</span><span data-if="dotnet" style="display:none">cameraParam</span><span data-if="python" style="display:none">camera_param</span></code></i></a> you must pass the internal camera parameters
(see <a href="toc_calibration.html">Calibration</a> for the sequence of the parameters and
the underlying camera model).
</p>
<p>In many cases <a href="#CameraParam"><i><code><span data-if="hdevelop" style="display:inline">CameraParam</span><span data-if="c" style="display:none">CameraParam</span><span data-if="cpp" style="display:none">CameraParam</span><span data-if="com" style="display:none">CameraParam</span><span data-if="dotnet" style="display:none">cameraParam</span><span data-if="python" style="display:none">camera_param</span></code></i></a> and <a href="#WorldPose"><i><code><span data-if="hdevelop" style="display:inline">WorldPose</span><span data-if="c" style="display:none">WorldPose</span><span data-if="cpp" style="display:none">WorldPose</span><span data-if="com" style="display:none">WorldPose</span><span data-if="dotnet" style="display:none">worldPose</span><span data-if="python" style="display:none">world_pose</span></code></i></a> are the result of
calibrating the camera with 该算子 <a href="calibrate_cameras.html"><code><span data-if="hdevelop" style="display:inline">calibrate_cameras</span><span data-if="c" style="display:none">calibrate_cameras</span><span data-if="cpp" style="display:none">CalibrateCameras</span><span data-if="com" style="display:none">CalibrateCameras</span><span data-if="dotnet" style="display:none">CalibrateCameras</span><span data-if="python" style="display:none">calibrate_cameras</span></code></a>. See
below for an example.
</p>
<p>With the parameter <a href="#Scale"><i><code><span data-if="hdevelop" style="display:inline">Scale</span><span data-if="c" style="display:none">Scale</span><span data-if="cpp" style="display:none">Scale</span><span data-if="com" style="display:none">Scale</span><span data-if="dotnet" style="display:none">scale</span><span data-if="python" style="display:none">scale</span></code></i></a> you can scale the resulting 3D
coordinates.
The parameter <a href="#Scale"><i><code><span data-if="hdevelop" style="display:inline">Scale</span><span data-if="c" style="display:none">Scale</span><span data-if="cpp" style="display:none">Scale</span><span data-if="com" style="display:none">Scale</span><span data-if="dotnet" style="display:none">scale</span><span data-if="python" style="display:none">scale</span></code></i></a> must be specified as the ratio <i>desired
unit/original unit</i>.  The original unit is determined by the coordinates of
the calibration object. If the original unit is meters (which is the case if
you use the standard calibration plate), you can set the desired unit
directly by selecting <i><span data-if="hdevelop" style="display:inline">'m'</span><span data-if="c" style="display:none">"m"</span><span data-if="cpp" style="display:none">"m"</span><span data-if="com" style="display:none">"m"</span><span data-if="dotnet" style="display:none">"m"</span><span data-if="python" style="display:none">"m"</span></i>, <i><span data-if="hdevelop" style="display:inline">'cm'</span><span data-if="c" style="display:none">"cm"</span><span data-if="cpp" style="display:none">"cm"</span><span data-if="com" style="display:none">"cm"</span><span data-if="dotnet" style="display:none">"cm"</span><span data-if="python" style="display:none">"cm"</span></i>, <i><span data-if="hdevelop" style="display:inline">'mm'</span><span data-if="c" style="display:none">"mm"</span><span data-if="cpp" style="display:none">"mm"</span><span data-if="com" style="display:none">"mm"</span><span data-if="dotnet" style="display:none">"mm"</span><span data-if="python" style="display:none">"mm"</span></i> or
<i><span data-if="hdevelop" style="display:inline">'um'</span><span data-if="c" style="display:none">"um"</span><span data-if="cpp" style="display:none">"um"</span><span data-if="com" style="display:none">"um"</span><span data-if="dotnet" style="display:none">"um"</span><span data-if="python" style="display:none">"um"</span></i> for the parameter <a href="#Scale"><i><code><span data-if="hdevelop" style="display:inline">Scale</span><span data-if="c" style="display:none">Scale</span><span data-if="cpp" style="display:none">Scale</span><span data-if="com" style="display:none">Scale</span><span data-if="dotnet" style="display:none">scale</span><span data-if="python" style="display:none">scale</span></code></i></a>.
</p>
<p>Internally, 该算子 first computes the line of sight between the
projection center and the image point in the camera coordinate system,
taking into account the radial distortions.
The line of sight is then transformed
into the world coordinate system specified in <a href="#WorldPose"><i><code><span data-if="hdevelop" style="display:inline">WorldPose</span><span data-if="c" style="display:none">WorldPose</span><span data-if="cpp" style="display:none">WorldPose</span><span data-if="com" style="display:none">WorldPose</span><span data-if="dotnet" style="display:none">worldPose</span><span data-if="python" style="display:none">world_pose</span></code></i></a>.  By
intersecting the plane z=0 with the line of sight the 3D coordinates of the
transformed contour <a href="#ContoursTrans"><i><code><span data-if="hdevelop" style="display:inline">ContoursTrans</span><span data-if="c" style="display:none">ContoursTrans</span><span data-if="cpp" style="display:none">ContoursTrans</span><span data-if="com" style="display:none">ContoursTrans</span><span data-if="dotnet" style="display:none">contoursTrans</span><span data-if="python" style="display:none">contours_trans</span></code></i></a> are obtained. </p>
<h2 id="sec_execution">运行信息</h2>
<ul>
  <li>多线程类型:可重入(与非独占操作符并行运行)。</li>
<li>多线程作用域:全局(可以从任何线程调用)。</li>
  <li>未经并行化处理。</li>
</ul>
<h2 id="sec_parameters">参数表</h2>
  <div class="par">
<div class="parhead">
<span id="Contours" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Contours</span><span data-if="c" style="display:none">Contours</span><span data-if="cpp" style="display:none">Contours</span><span data-if="com" style="display:none">Contours</span><span data-if="dotnet" style="display:none">contours</span><span data-if="python" style="display:none">contours</span></code></b> (input_object)  </span><span>xld_cont(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HXLDCont.html">HXLDCont</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HXLDCont.html">HXLDCont</a></span><span data-if="c" style="display:none">Hobject</span></span>
</div>
<p class="pardesc">Input XLD contours to be transformed in image
coordinates.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="ContoursTrans" class="parname"><b><code><span data-if="hdevelop" style="display:inline">ContoursTrans</span><span data-if="c" style="display:none">ContoursTrans</span><span data-if="cpp" style="display:none">ContoursTrans</span><span data-if="com" style="display:none">ContoursTrans</span><span data-if="dotnet" style="display:none">contoursTrans</span><span data-if="python" style="display:none">contours_trans</span></code></b> (output_object)  </span><span>xld_cont(-array) <code>→</code> <span data-if="hdevelop" style="display:inline">object</span><span data-if="dotnet" style="display:none"><a href="HXLDCont.html">HXLDCont</a></span><span data-if="python" style="display:none">HObject</span><span data-if="cpp" style="display:none"><a href="HXLDCont.html">HXLDCont</a></span><span data-if="c" style="display:none">Hobject *</span></span>
</div>
<p class="pardesc">Transformed XLD contours in world coordinates.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="CameraParam" class="parname"><b><code><span data-if="hdevelop" style="display:inline">CameraParam</span><span data-if="c" style="display:none">CameraParam</span><span data-if="cpp" style="display:none">CameraParam</span><span data-if="com" style="display:none">CameraParam</span><span data-if="dotnet" style="display:none">cameraParam</span><span data-if="python" style="display:none">camera_param</span></code></b> (input_control)  </span><span>number-array <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float, str]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">string)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">string)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">HString)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">char*)</span></span>
</div>
<p class="pardesc">Internal camera parameters.</p>
</div>
  <div class="par">
<div class="parhead">
<span id="WorldPose" class="parname"><b><code><span data-if="hdevelop" style="display:inline">WorldPose</span><span data-if="c" style="display:none">WorldPose</span><span data-if="cpp" style="display:none">WorldPose</span><span data-if="com" style="display:none">WorldPose</span><span data-if="dotnet" style="display:none">worldPose</span><span data-if="python" style="display:none">world_pose</span></code></b> (input_control)  </span><span>pose <code>→</code> <span data-if="dotnet" style="display:none"><a href="HPose.html">HPose</a>, </span><span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Sequence[Union[int, float]]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (real / </span><span data-if="hdevelop" style="display:inline">integer)</span><span data-if="dotnet" style="display:none"> (<i>double</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long)</span><span data-if="cpp" style="display:none"> (<i>double</i> / </span><span data-if="cpp" style="display:none">Hlong)</span><span data-if="c" style="display:none"> (<i>double</i> / </span><span data-if="c" style="display:none">Hlong)</span></span>
</div>
<p class="pardesc">3D pose of the world coordinate system in camera
coordinates.</p>
<p class="pardesc"><span class="parcat">Number of elements:
      </span>7</p>
</div>
  <div class="par">
<div class="parhead">
<span id="Scale" class="parname"><b><code><span data-if="hdevelop" style="display:inline">Scale</span><span data-if="c" style="display:none">Scale</span><span data-if="cpp" style="display:none">Scale</span><span data-if="com" style="display:none">Scale</span><span data-if="dotnet" style="display:none">scale</span><span data-if="python" style="display:none">scale</span></code></b> (input_control)  </span><span>number <code>→</code> <span data-if="dotnet" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="python" style="display:none">Union[int, float, str]</span><span data-if="cpp" style="display:none"><a href="HTuple.html">HTuple</a></span><span data-if="c" style="display:none">Htuple</span><span data-if="hdevelop" style="display:inline"> (string / </span><span data-if="hdevelop" style="display:inline">integer / </span><span data-if="hdevelop" style="display:inline">real)</span><span data-if="dotnet" style="display:none"> (<i>string</i> / </span><span data-if="dotnet" style="display:none">int / </span><span data-if="dotnet" style="display:none">long / </span><span data-if="dotnet" style="display:none">double)</span><span data-if="cpp" style="display:none"> (<i>HString</i> / </span><span data-if="cpp" style="display:none">Hlong / </span><span data-if="cpp" style="display:none">double)</span><span data-if="c" style="display:none"> (<i>char*</i> / </span><span data-if="c" style="display:none">Hlong / </span><span data-if="c" style="display:none">double)</span></span>
</div>
<p class="pardesc">Scale or dimension</p>
<p class="pardesc"><span class="parcat">Default:
      </span>
    <span data-if="hdevelop" style="display:inline">'m'</span>
    <span data-if="c" style="display:none">"m"</span>
    <span data-if="cpp" style="display:none">"m"</span>
    <span data-if="com" style="display:none">"m"</span>
    <span data-if="dotnet" style="display:none">"m"</span>
    <span data-if="python" style="display:none">"m"</span>
</p>
<p class="pardesc"><span class="parcat">Suggested values:
      </span><span data-if="hdevelop" style="display:inline">'m'</span><span data-if="c" style="display:none">"m"</span><span data-if="cpp" style="display:none">"m"</span><span data-if="com" style="display:none">"m"</span><span data-if="dotnet" style="display:none">"m"</span><span data-if="python" style="display:none">"m"</span>, <span data-if="hdevelop" style="display:inline">'cm'</span><span data-if="c" style="display:none">"cm"</span><span data-if="cpp" style="display:none">"cm"</span><span data-if="com" style="display:none">"cm"</span><span data-if="dotnet" style="display:none">"cm"</span><span data-if="python" style="display:none">"cm"</span>, <span data-if="hdevelop" style="display:inline">'mm'</span><span data-if="c" style="display:none">"mm"</span><span data-if="cpp" style="display:none">"mm"</span><span data-if="com" style="display:none">"mm"</span><span data-if="dotnet" style="display:none">"mm"</span><span data-if="python" style="display:none">"mm"</span>, <span data-if="hdevelop" style="display:inline">'microns'</span><span data-if="c" style="display:none">"microns"</span><span data-if="cpp" style="display:none">"microns"</span><span data-if="com" style="display:none">"microns"</span><span data-if="dotnet" style="display:none">"microns"</span><span data-if="python" style="display:none">"microns"</span>, <span data-if="hdevelop" style="display:inline">'um'</span><span data-if="c" style="display:none">"um"</span><span data-if="cpp" style="display:none">"um"</span><span data-if="com" style="display:none">"um"</span><span data-if="dotnet" style="display:none">"um"</span><span data-if="python" style="display:none">"um"</span>, 1.0, 0.01, 0.001, 1.0e-6, 0.0254, 0.3048, 0.9144</p>
<p class="pardesc"><span class="parcat">Restriction:
      </span><code>Scale &gt; 0</code></p>
</div>
<h2 id="sec_example_all">例程 (HDevelop)</h2>
<pre class="example">
*  Perform camera calibration (with standard calibration plate).
calibrate_cameras (CalibDataID, Error)
get_calib_data (CalibDataID, 'camera', 0, 'params', CamParam)
* Get reference pose (pose 2 of calibration object 0).
get_calib_data (CalibDataID, 'calib_obj_pose', [0,2], 'pose', WorldPose)
*  Compensate thickness of plate.
set_origin_pose(ObjInCameraPose, 0, 0, 0.0006, WorldPose)
*  Transform contours into world coordinate system (unit mm).
contour_to_world_plane_xld(Contours, ContoursTrans, CamParam, \
                           WorldPose, 'mm')
</pre>
<h2 id="sec_result">结果</h2>
<p><code><span data-if="hdevelop" style="display:inline">contour_to_world_plane_xld</span><span data-if="c" style="display:none">contour_to_world_plane_xld</span><span data-if="cpp" style="display:none">ContourToWorldPlaneXld</span><span data-if="com" style="display:none">ContourToWorldPlaneXld</span><span data-if="dotnet" style="display:none">ContourToWorldPlaneXld</span><span data-if="python" style="display:none">contour_to_world_plane_xld</span></code> returns <TT>2</TT> (
      <TT>H_MSG_TRUE</TT>)
     if all parameter values
are correct. 如有必要，将引发异常。</p>
<h2 id="sec_predecessors">可能的前置算子</h2>
<p>
<code><a href="create_pose.html"><span data-if="hdevelop" style="display:inline">create_pose</span><span data-if="c" style="display:none">create_pose</span><span data-if="cpp" style="display:none">CreatePose</span><span data-if="com" style="display:none">CreatePose</span><span data-if="dotnet" style="display:none">CreatePose</span><span data-if="python" style="display:none">create_pose</span></a></code>, 
<code><a href="hom_mat3d_to_pose.html"><span data-if="hdevelop" style="display:inline">hom_mat3d_to_pose</span><span data-if="c" style="display:none">hom_mat3d_to_pose</span><span data-if="cpp" style="display:none">HomMat3dToPose</span><span data-if="com" style="display:none">HomMat3dToPose</span><span data-if="dotnet" style="display:none">HomMat3dToPose</span><span data-if="python" style="display:none">hom_mat3d_to_pose</span></a></code>, 
<code><a href="camera_calibration.html"><span data-if="hdevelop" style="display:inline">camera_calibration</span><span data-if="c" style="display:none">camera_calibration</span><span data-if="cpp" style="display:none">CameraCalibration</span><span data-if="com" style="display:none">CameraCalibration</span><span data-if="dotnet" style="display:none">CameraCalibration</span><span data-if="python" style="display:none">camera_calibration</span></a></code>, 
<code><a href="hand_eye_calibration.html"><span data-if="hdevelop" style="display:inline">hand_eye_calibration</span><span data-if="c" style="display:none">hand_eye_calibration</span><span data-if="cpp" style="display:none">HandEyeCalibration</span><span data-if="com" style="display:none">HandEyeCalibration</span><span data-if="dotnet" style="display:none">HandEyeCalibration</span><span data-if="python" style="display:none">hand_eye_calibration</span></a></code>, 
<code><a href="set_origin_pose.html"><span data-if="hdevelop" style="display:inline">set_origin_pose</span><span data-if="c" style="display:none">set_origin_pose</span><span data-if="cpp" style="display:none">SetOriginPose</span><span data-if="com" style="display:none">SetOriginPose</span><span data-if="dotnet" style="display:none">SetOriginPose</span><span data-if="python" style="display:none">set_origin_pose</span></a></code>
</p>
<h2 id="sec_see">参考其它</h2>
<p>
<code><a href="image_points_to_world_plane.html"><span data-if="hdevelop" style="display:inline">image_points_to_world_plane</span><span data-if="c" style="display:none">image_points_to_world_plane</span><span data-if="cpp" style="display:none">ImagePointsToWorldPlane</span><span data-if="com" style="display:none">ImagePointsToWorldPlane</span><span data-if="dotnet" style="display:none">ImagePointsToWorldPlane</span><span data-if="python" style="display:none">image_points_to_world_plane</span></a></code>
</p>
<h2 id="sec_module">模块</h2>
<p>
Calibration</p>
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